title: A biomimetic framework for coordinating and controlling whole body movements in humanoid robots.
abstract: An integrated model for the coordination of whole body movements of a humanoid robot with a compliant ankle similar to the human case is described. It includes a synergy formation part, which takes into account the motor redundancy of the body model, and an intermittent controller, which stabilizes in a robust way postural sway movements, thus combining the hip strategy with ankle strategy.
authors.forename: Pietro
authors.initials: P
authors.lastname: Morasso
authors.forename: Francesco
authors.initials: F
authors.lastname: Rea
authors.forename: Vishwanathan
authors.initials: V
authors.lastname: Mohan
mesh_terms: D032701:Biomimetics / Q000379:methods*; D006801:Humans; D008962:Models, Theoretical; D009068:Movement; D011187:Posture / Q000502:physiology*; D012371:Robotics; D013997:Time Factors